CN108784637A - Medical capsule endoscope adapting to image frame per second method of adjustment and frame per second adjust system - Google Patents
Medical capsule endoscope adapting to image frame per second method of adjustment and frame per second adjust system Download PDFInfo
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- CN108784637A CN108784637A CN201810652545.9A CN201810652545A CN108784637A CN 108784637 A CN108784637 A CN 108784637A CN 201810652545 A CN201810652545 A CN 201810652545A CN 108784637 A CN108784637 A CN 108784637A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
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Abstract
The invention discloses a kind of medical capsule endoscope adapting to image frame per second methods of adjustment and frame per second to adjust system, and this method includes：The posture information of capsule is acquired using six axle sensors being uniquely set in capsule endoscope and is transferred to control unit；Control unit calculating speed increment Delta v and real-time angular speed Δ GYRO；Linear velocity judgment threshold K1 and angular speed judgment threshold k2 is set, as Δ v<K1 and Δ GYRO<When K2, image frame per second is adjusted to low frame per second state；As Δ v>=K1 or Δ GYRO>When=K2, image frame per second is adjusted to high frame per second state.The present invention is achieved that the adjusting of capsule acquisition frame rate only with six axle sensors that one is set in capsule, does not need the participation of external equipment, simple in structure.By calculating the linear velocity and angular speed increment of capsule, when speed is persistently speeded, frame per second is improved；When speed continues slack-off, frame per second is reduced.Electric energy has been saved under the premise of ensureing detection accuracy.
Description
Technical field
The present invention relates to data acquisition technology field, more particularly to a kind of medical capsule endoscope adapting to image frame per second tune
Adjusting method and frame per second adjust system.
Background technology
Capsule endoscope is applied more and more common in recent years because of its hurtless measure, high-comfort, and the battery of capsule endoscope supplies
Electricity is a restraining factors for hindering its development, and the power consumption for reducing capsule endoscope to the greatest extent is to extend the weight of its working time
Want approach.When being detected using cheek pouch endoscope, capsule endoscope is made in human body alimentary canal by human body alimentary canal wriggling
With can move especially fast and relatively slow at certain positions at certain positions, if all with unified image taking frame per second,
The increase of power consumption is caused, waste or image taking is caused not enough to cause the risk of missing inspection.And according to the movement shape of capsule
It is the key that solve the above problems that state, which is adaptively adjusted image taking frame per second,.
A kind of wireless capsule endoscope system that image frame per second is adaptive is disclosed in CN107669236A and frame per second is adaptive
The two or six axle sensor is arranged on recorder, passes through by the way that the one or six axle sensor is arranged in capsule for induction method, the program
Two six axle sensors acquire the posture information of capsule and recorder respectively, by being compared to two posture informations, judge
Capsule whether there is relative motion with recorder, if there is relative motion, then tune up the frame per second of capsule acquisition；If there is no
Relative motion then slows down the frame per second of capsule acquisition.Although this method can realize the adjusting of frame per second, two six axis sensings
Device is complicated, as long as and capsule and recorder have relative motion, the acquisition frame rate of raising capsule, as long as example, its is even
Fast slowly movement, capsule are just being acquired with highest frame per second, are still unfavorable for saving electric energy.
Invention content
The present invention is directed at least solve the technical problems existing in the prior art, especially innovatively propose a kind of based on used
Property device medical capsule endoscope adapting to image frame per second method of adjustment and frame per second adjust system.
In order to realize the above-mentioned purpose of the present invention, according to the first aspect of the invention, the present invention provides a kind of medical
Capsule endoscope adapting to image frame per second method of adjustment comprising following steps：
S1 acquires the posture information and biography of capsule using six axle sensors being uniquely set in capsule endoscope in real time
It is defeated to arrive control unit；
S2, described control unit resolve posture information, according to the real-time detector data of six axle sensors, calculate the Δ t times
Speed increment Δ V and real-time angular speed Δ GYRO, specific formula for calculation in section are：
It is calculated according to real time acceleration value ACCx, ACCy, ACCz of three axial directions in the initial data of accelerometer measures
Linear acceleration increment Delta a：
Real-time magnitude of angular velocity GYROx, GYROy, GYROz of three axial directions are calculated in the initial data measured according to gyroscope
Real-time angular speed Δ GYRO：
Calculate the speed increment Δ V in the Δ t periods：Δ V=Δs t × Δ a；
Linear velocity judgment threshold K1 and angular speed judgment threshold k2 is arranged, as Δ V in S3<K1 and Δ GYRO<When K2, capsule
Endoscope is in low-speed motion state, and image frame per second is adjusted to low frame per second state or continuously decreases frame per second；
As Δ V>=K1 or Δ GYRO>When=K2, capsule endoscope is in higher speed motion state, and image frame per second is adjusted
For high frame per second state or gradually rise frame per second.
The present invention is achieved that the adjusting of capsule acquisition frame rate only with six axle sensors that one is set in capsule, no
The participation of external equipment is needed, it is simple in structure.The present invention works as speed by the linear velocity acceleration and angular speed increment of calculating capsule
When degree is persistently speeded, frame per second is improved；When speed continues slack-off, frame per second is reduced.It is saved under the premise of ensureing detection accuracy
Electric energy.
In order to realize the above-mentioned purpose of the present invention, according to the second aspect of the invention, the present invention provides a kind of medical
Capsule endoscope adapting to image frame per second adjusts system comprising unique six axle sensor being arranged in the capsule, also
Including the control unit being set in capsule, six axle sensor acquires the posture information of capsule and is transmitted to control list in real time
The speed increment of capsule and real-time angular speed, control unit root is calculated according to the method for step S2 in member, described control unit
According to the speed increment and real-time magnitude of angular velocity, the acquisition frame rate of capsule is adjusted using the method for step S3.
The adjusting that capsule acquisition frame rate is achieved that only with six axle sensors that one is set in capsule of the present invention,
The participation of external equipment is not needed, it is simple in structure.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obviously, or practice through the invention is recognized.
Description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become in the description from combination following accompanying drawings to embodiment
Obviously and it is readily appreciated that, wherein：
Fig. 1 is the flow chart of medical capsule endoscope adapting to image frame per second method of adjustment of the present invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, unless otherwise specified and limited, it should be noted that term " installation ", " connected ",
" connection " shall be understood in a broad sense, for example, it may be mechanical connection or electrical connection, can also be the connection inside two elements, it can
, can also indirectly connected through an intermediary, for the ordinary skill in the art to be to be connected directly, it can basis
Concrete condition understands the concrete meaning of above-mentioned term.
The present invention provides a kind of medical capsule endoscope adapting to image frame per second methods of adjustment, as shown in Figure 1 comprising
Following steps：
S1 acquires the posture information and biography of capsule using six axle sensors being uniquely set in capsule endoscope in real time
It is defeated to arrive control unit；
S2, control unit resolve posture information (existing six axis posture blending algorithm specifically can be used), are passed according to six axis
The real-time detector data of sensor calculates the speed increment Δ V in the Δ t periods and real-time angular speed Δ GYRO, specific to calculate public affairs
Formula is：
It is calculated according to real time acceleration value ACCx, ACCy, ACCz of three axial directions in the initial data of accelerometer measures
Linear acceleration increment Delta a：
Real-time magnitude of angular velocity GYROx, GYROy, GYROz of three axial directions are calculated in the initial data measured according to gyroscope
Real-time angular speed Δ GYRO：
Calculate the speed increment Δ V in the Δ t periods：Δ V=Δs t × Δ a；
Linear velocity judgment threshold K1 and angular speed judgment threshold k2 is arranged, as Δ V in S3<K1 and Δ GYRO<When K2, capsule
Endoscope is in low-speed motion state, and image frame per second is adjusted to low frame per second state or continuously decreases frame per second；
As Δ V>=K1 or Δ GYRO>When=K2, capsule endoscope is in higher speed motion state, and image frame per second is adjusted
For high frame per second state or gradually rise frame per second.
In the present embodiment, specific linear velocity judgment threshold K1 and angular speed judgment threshold k2 can be according to specific practical feelings
Condition is set, such as sets linear velocity judgment threshold K1 and angular speed judgment threshold k2 as 0 or a positive number.
In the present embodiment, multiple frame per second grades can be set or do not limited to frame per second height, adjust frame stepwise
The numerical value of rate can be specifically adjusted with 5 frames/step.
The present invention is achieved that the adjusting of capsule acquisition frame rate only with six axle sensors that one is set in capsule, no
The participation of external equipment is needed, it is simple in structure.The present invention works as speed by the linear velocity acceleration and angular speed increment of calculating capsule
When degree is persistently speeded, frame per second is improved；When speed continues slack-off, frame per second is reduced.It is saved under the premise of ensureing detection accuracy
Electric energy.
The present invention also provides a kind of medical capsule endoscope adapting to image frame per second to adjust system comprising in the glue
Unique six axle sensor of intracapsular setting, further includes the control unit being set in capsule, which acquires in real time
The posture information of capsule is simultaneously transmitted to control unit, and the speed increment of capsule is calculated according to the method for step S2 for control unit
With real-time angular speed, control unit adjusts capsule according to the speed increment and real-time magnitude of angular velocity, using the method for step S3
Acquisition frame rate.
The adjusting that capsule acquisition frame rate is achieved that only with six axle sensors that one is set in capsule of the present invention,
The participation of external equipment is not needed, it is simple in structure.
The present invention increases the motion state of a six axle sensors detection capsule inside capsule endoscope, according to capsule
Speed is moved to automatically adjust the image taking frame per second of capsule endoscope, adjustment is more acurrate, avoids mismatching due to shooting frame rate
The reason of cause leakage to clap or a large amount of repeat shooting unnecessary power consumption is caused to increase.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
Centainly refer to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be any
One or more embodiments or example in can be combined in any suitable manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of being detached from the principle of the present invention and objective a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The range of invention is limited by claim and its equivalent.
Claims (2)
1. a kind of medical capsule endoscope adapting to image frame per second method of adjustment, which is characterized in that include the following steps：
S1 acquires the posture information of capsule using six axle sensors being uniquely set in capsule endoscope and is transferred in real time
Control unit；
S2, described control unit resolve posture information, according to the real-time detector data of six axle sensors, calculate in the Δ t periods
Speed increment Δ V and real-time angular speed Δ GYRO, specific formula for calculation be：
It is calculated according to real time acceleration value ACCx, ACCy, ACCz of three axial directions in the initial data of accelerometer measures linear
Acceleration increment Delta a：
Real-time magnitude of angular velocity GYROx, GYROy, GYROz of three axial directions calculate real-time in the initial data measured according to gyroscope
Angular speed Δ GYRO：
Calculate the speed increment Δ V in the Δ t periods：Δ V=Δs t × Δ a；
Linear velocity judgment threshold K1 and angular speed judgment threshold k2 is arranged, as Δ V in S3<K1 and Δ GYRO<When K2, peeped in capsule
Mirror is in low-speed motion state, and image frame per second is adjusted to low frame per second state or continuously decreases frame per second；
As Δ V>=K1 or Δ GYRO>When=K2, capsule endoscope is in higher speed motion state, and image frame per second is adjusted to high
Frame per second state gradually rises frame per second.
2. a kind of medical capsule endoscope adapting to image frame per second adjusts system, which is characterized in that including being set in the capsule
Unique six axle sensor set, further includes the control unit being set in capsule, and six axle sensor acquires capsule in real time
Posture information and be transmitted to control unit, capsule is calculated according to the method for claim 1 step S2 in described control unit
Speed increment and real-time angular speed, control unit the side of step S3 is utilized according to the speed increment and real-time magnitude of angular velocity
Method adjusts the acquisition frame rate of capsule.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810652545.9A CN108784637B (en) | 2018-06-22 | 2018-06-22 | Self-adaptive image frame rate adjusting method and system for medical capsule endoscope |
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| CN201810652545.9A CN108784637B (en) | 2018-06-22 | 2018-06-22 | Self-adaptive image frame rate adjusting method and system for medical capsule endoscope |
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| CN108784637B CN108784637B (en) | 2020-05-01 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110996009A (en) * | 2019-12-20 | 2020-04-10 | 安翰科技(武汉)股份有限公司 | Capsule endoscope system, automatic frame rate adjustment method thereof, and computer-readable storage medium |
| CN111345772A (en) * | 2018-12-20 | 2020-06-30 | 重庆金山医疗器械有限公司 | Method for adjusting image acquisition frame rate and capsule endoscope system |
| WO2020147196A1 (en) * | 2019-01-14 | 2020-07-23 | 深圳市资福医疗技术有限公司 | Method and apparatus for operating smart control capsule endoscope at different parts of digestive tract |
| CN111816987A (en) * | 2020-08-11 | 2020-10-23 | 深圳市资福医疗技术有限公司 | Image transmission system and method and capsule endoscope thereof |
| CN112057030A (en) * | 2020-09-11 | 2020-12-11 | 深圳市资福医疗技术有限公司 | System, method and medium for adjusting power of capsule endoscope |
| CN113812904A (en) * | 2021-11-24 | 2021-12-21 | 广州思德医疗科技有限公司 | Endoscopic capsule image transmission method, device and system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111345772A (en) * | 2018-12-20 | 2020-06-30 | 重庆金山医疗器械有限公司 | Method for adjusting image acquisition frame rate and capsule endoscope system |
| WO2020147196A1 (en) * | 2019-01-14 | 2020-07-23 | 深圳市资福医疗技术有限公司 | Method and apparatus for operating smart control capsule endoscope at different parts of digestive tract |
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| CN110996009B (en) * | 2019-12-20 | 2021-07-23 | 安翰科技(武汉)股份有限公司 | Capsule endoscope system, automatic frame rate adjustment method thereof, and computer-readable storage medium |
| CN111816987A (en) * | 2020-08-11 | 2020-10-23 | 深圳市资福医疗技术有限公司 | Image transmission system and method and capsule endoscope thereof |
| CN111816987B (en) * | 2020-08-11 | 2022-01-11 | 深圳市资福医疗技术有限公司 | Image transmission method |
| CN112057030A (en) * | 2020-09-11 | 2020-12-11 | 深圳市资福医疗技术有限公司 | System, method and medium for adjusting power of capsule endoscope |
| CN113812904A (en) * | 2021-11-24 | 2021-12-21 | 广州思德医疗科技有限公司 | Endoscopic capsule image transmission method, device and system |
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| CN108784637B (en) | 2020-05-01 |
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